MIMIC'D Abilities - Tools, Tool Changing, and Robotic Control

Abstract

Research is currently underway to improve controllability of high degree-of-freedome manipulators under a Phase II SBIR contract sponsored by the U.S. Army Tank Automotive Research, Development, and Engineering Center (TARDEC). As part of this program, the authors have created new control methods as well as adapting tool changing technology onto a dexterous arm to look at controllability of various manipulator functions. In this paper, the authors describe the work completed under this program and describe the findings of this work in terms of how these technologies can be used to extend the capabilities of existing and newly developed robotic manipulators.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2012
Accession Number
ADA566180

Entities

People

  • Douglas Peters
  • Jeremy Gray
  • Kenneth Gunnett

Organizations

  • United States Army Tank Automotive Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Attachment
  • Control Systems
  • Engineering
  • Environment
  • Explosive Ordnance Disposal
  • Explosives
  • Governments
  • Ground Vehicles
  • Platforms
  • Robotics
  • Robots
  • Standards
  • Systems Engineering
  • Tools
  • United States
  • United States Government
  • Vehicles

Readers

  • Robotics and Automation.
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy